System for accurately and precisely locating and marking a position in space using wireless communications and robotics
A system comprising a Master station and a substation under the control of the Master station is able to generate graphical drawings of a multidimensional space in real time. Information regarding the physical dimensions of a multidimensional space and location an orientation objects and/or structures therein are exchanged between the stations. The Master station is able to automatically generate an N dimensional graphical representation of the multidimensional space in real time, i.e., as it receives information from the substation and as it obtains information with its own measurement devices. The Master station can display the multidimensional space to a user allowing the user to be guided (i.e., to navigate) within the multidimensional space.
This application claims the benefit of the filing date of a provisional application having Application No. 60/862,439 titled “System for Accurately and Precisely Locating and Marking a Position in Space Using Wireless Communications and Robotics” filed on Oct. 21, 2006.
FIELD OF THE INVENTIONThe present invention relates to a system and method determining specific locations in a multidimensional space.
BACKGROUND OF THE INVENTIONInformation obtained from measuring devices in a construction site are documented and then provided to architects and engineers to develop plans and blue prints for the construction site.
SUMMARY OF THE INVENTIONThe present invention provides a system comprising a Master station and at least one substation both of which are capable of communicating with each other to locate and identify one or more locations in a multi-dimensional space. The Master station further can control one or more of the substations to perform a particular task within the multidimensional space. The Master station is able to determine its position within the multidimensional space and the location of references, and specified points, objects and/or structures within the multidimensional space to generate an N-dimensional graphical representation of the multidimensional space (where N is an integer equal to 2 or greater) as the space is being studied; i.e., in real time. A user of the system operating the Master station can thus be guided through the multidimensional space.
The Master station comprises a transmitter and receiver equipment used to measure distances and to identify locations of various points within the multidimensional space. The Master station may further comprise a sensor and a processor. The Master station can be transportable, mobile and autonomous through the operation of software providing instructions to the processor. The transmitter and receiver are able to transmit and receive wireless radio signals or optical signals or both. The sensor is capable of detecting optical signals that are (i) transmitted by one or more of the substations, (ii) reflected by one of the substations or (iii) reflected from a structure within the multidimensional space or a fixed reference point within the structure. With the processor and software residing therein and the identification of a plurality of specified reference points, the Master station is able to calculate its position (through the well known process of triangulation, for example) within the multidimensional space, the locations of substations within the multidimensional space and object, structures within the multidimensional space or form the boundaries of the multidimensional space. Points and locations within the multidimensional space measured and identified by the Master station can be transferred onto a two or three dimensional space graphical representation (or generally an N dimensional space where N is an integer equal to 2 or greater) that can be displayed to allow a user operating the Master station of the present invention to determine his or her position within the multidimensional space or navigate (or to be guided) within the space by viewing the graphical representation of the multidimensional space. The graphical representation, in three dimensions for example, can be implemented with the use of software including well known CAD (Computer Aided Design such as AUTOCAD®) software and additional software. As new points, objects, structures are identified and measured, the information is transferred to the Master station which is able to automatically determine the exact location of these points with respect to other objects, structures and boundaries of the multidimensional space allowing it to automatically generate a real time graphical representation of the multi-dimensional space as the space is being studied. The term “automatically” as used herein refers to tasks performed by one or more components of the system of the present invention as directed by firmware or software of the system. A task performed automatically can be done in real time meaning the task is done as information used to perform the task is being received.
A Master station can communicate with one or more substations. A substation may be passive or active. That is, a passive substation may be a device that reflects optical or radio signals from the Master station or from another substation. A passive substation doe not, on its own, transmit information. An active substation may contain a sensor, a transmitter and a receiver to send information to the Master station or to receive information from the Master station in order to perform a command sent by the Master station. Further, a substation may be both a passive and active device; that is, part of the substation reflects signals from another device (another substation or a Master station) and another part of the substation generates or transmits reference point information or any other type of information to a Master station or to another substation. The substation can be transportable, mobile and autonomous through the operation of software residing in a processor of the substation. The substation may be equipped with tools to perform tasks based on command received from the Master station or from another substation relaying a command from the Master station. The Master station may also be equipped with such tools.
The present invention provides a system comprising a Master station and at least one substation both of which are capable of communicating with each other to locate and identify one or more locations in a multi-dimensional space. The Master station further can control one or more of the substations to perform a particular task within the multidimensional space. The Master station is able to determine its position within the multidimensional space and the location of references, and specified points, objects and/or structures within the multidimensional space to generate an N-dimensional graphical representation of the multidimensional space (where N is an integer equal to 2 or greater) as the space is being studied; i.e., in real time. A user of the system operating the Master station can thus be guided through the multidimensional space.
The Master station comprises a transmitter and receiver equipment used to measure distances and to identify locations of various points within the multidimensional space. The Master station may further comprise a sensor and a processor. The Master station can be transportable, mobile and autonomous through the operation of software providing instructions to the processor. The transmitter and receiver are able to transmit and receive wireless radio signals or optical signals or both. The sensor is capable of detecting optical signals that are (i) transmitted by one or more of the substations, (ii) reflected by one of the substations or (iii) reflected from a structure within the multidimensional space or a fixed reference point within the structure. With the processor and software residing therein and the identification of a plurality of specified reference points, the Master station is able to calculate its position (through the well known process of triangulation, for example) within the multidimensional space, the locations of substations within the multidimensional space and object, structures within the multidimensional space or form the boundaries of the multidimensional space. Points and locations within the multidimensional space measured and identified by the Master station can be transferred onto a two or three dimensional space graphical representation (or generally an N dimensional space where N is an integer equal to 2 or greater) that can be displayed to allow a user operating the Master station of the present invention to determine his or her position within the multidimensional space or navigate (or to be guided) within the space by viewing the graphical representation of the multidimensional space. The graphical representation, in three dimensions for example, can be implemented with the use of software including well known CAD (Computer Aided Design such as AUTOCAD®) software and additional software. As new points, objects, structures are identified and measured, the information is transferred to the Master station which is able to automatically determine the exact location of these points with respect to other objects, structures and boundaries of the multidimensional space allowing it to automatically generate a real time graphical representation of the multi-dimensional space as the space is being studied. The term “automatically” as used herein refers to tasks performed by one or more components of the system of the present invention as directed by firmware or software of the system. A task performed automatically can be done in real time meaning the task is done as information used to perform the task is being received.
A Master station can communicate with one or more substations. A substation may be passive or active. That is, a passive substation may be a device that reflects optical or radio signals from the Master station or from another substation. A passive substation doe not, on its own, transmit information. An active substation may contain a sensor, a transmitter and a receiver to send information to the Master station or to receive information from the Master station in order to perform a command sent by the Master station. Further, a substation may be both a passive and active device; that is, part of the substation reflects signals from another device (another substation or a Master station) and another part of the substation generates or transmits reference point information or any other type of information to a Master station or to another substation. The substation can be transportable, mobile and autonomous through the operation of software residing in a processor of the substation. The substation may be equipped with tools to perform tasks based on command received from the Master station or from another substation relaying a command from the Master station. The Master station may also be equipped with such tools.
Referring to
The lasers 32 and 34 can be communications laser comprising pulse modulated spinning laser mechanisms that are mounted atop the Master station 20. The Master station provides visible horizontal and vertical reference laser lines. The Master station is capable of reading barcode information printed on objects within its line of sight. Additionally the lasers 32 and 34 are pulse modulated and are capable of transmitting data to a device that can receive the information.
Sensors (not shown), which can be placed near the lens assembly 24, are used to enable receiving and interpreting or reading of information sent from a pulse modulated transmitter. The lasers 32, 34 of the Master station 20 can communicate with other similarly equipped Master stations, substations, vehicular or fixed reference stations.
A transportable substation 42 is shown in
- a. plumb beam 62 transmitted downward in the true vertical direction to determine height;
- b. a vertical beam 66 transmitted upward to be redirected through the pole 54 to act as a visible laser pointer and an electronic distance reading and writing device.
- c. a vertical beam (not shown) transmitted upward to be redirected through the vertical and horizontal optical spinning units; and,
- d. a beam 68 transmitted through the robot arm pole to act as a visible laser pointer and electronic distance measurement reading and writing device.
The X, Y, and Z position in space (position in space based on 3 orthogonal axes of a Cartesian coordinate system) of the transportable substation 42 as well as the position and orientation of the robot arm is known by the corresponding controlling Master station. Single or multiple substations may be utilized independently with a Master station, or multiple stations may be daisy chained together with each other.
The purpose of the fixed reference station system is to provide fixed reference points for automatic, autonomous, device orientation and navigation in relation to the space in which they are placed according to CAD or digitized drawings. These devices orient themselves and navigate through the space by continuously searching for, measuring and re-measuring the distance to any number of fixed reference stations located in the same space. The ultimate goal is to achieve greater measurement accuracy and to navigate autonomously or through a remote controlled vehicle, a humanoid robot, an android, or other robots or robotic vehicles, tools or systems indoors or outdoors from a CAD drawing. It is important to note that the Master station may start the process of measuring and locating fixed reference points with a CAD drawing or other drawings already uploaded in the memory of the Processor of the Master station and the location of the fixed references documents; in such a case the Master station would confirm the accuracy of the documented information and still generate a graphical representation of the space including objects and structures in the space. The graphical representation generated by the Master station of the system of the present invention may deviate from the graphical representation already documented. As each monument, structure, and boundary of the space is measured and identified, the graphical representation being generated by the system of the present invention is updated and the displayed drawing changes accordingly. The updates to the graphics display is done in real time; that is, as the information is processed by the processor and the new portion of the graphics is added, the viewer sees the new portion and the rest of the graphics. Further, the user of the Master station such as Master station 164 not only is viewing the display of the space but the Master station/user location is also displayed in the graphical representation allowing the user to be guided or navigate through the enclosed space. Certain objects and/or structures may have already been documented in the uploaded CAD or digital drawing, but are not yet present in the space. In such a case, the Master station 156 may, for example, direct a vehicular substation 162 to the intended location of an object indicated in the CAD drawing and have substation 162 make markings to indicate the exact placement and orientation of the object already identified in the CAD drawing. Other similar tasks can be performed by substations under the direction and control of one or more Master stations. Furthermore, the substations may have processors with the CAD drawings already uploaded and thus autonomously are able to perform tasks based on the location of certain objects according to the CAD drawings and the particular software running on the processors of the substations. A display of the space with objects and structures can be seen by the user, but in the actual space none of the objects and structures exist yet. Thus, a substation equipped with a robotic arm with a tool attached thereto can perform tasks to facilitate the construction of such objects and/or structures or construct the object and/or structure itself. For example, the substation can drill holes, make markings, cut surfaces in preparation for the construction of an object, monument or structure at a specific location identified to be the location of the object by the CAD drawing uploaded in the processor of the substation or in the processor of the Master station controlling the substation.
The robotic laser distance measurement Master station control software is located within a handheld, laptop, tablet or desktop computer with the ability to communicate with (sends commands and/or receive commands) Master stations, Substations and other equipment of the system of the present invention. The software operatively sends commands and receives telemetry back from the Master station. The software sends commands to the Master station's firmware telling the Master station to perform specified tasks (e.g., turn in a specified direction, move up or down to a particular angular position, turn the visible laser pointer on or off measure distance or angle etc.). The Master station responds by executing the requested functions and then sends performance or measurement telemetry back to the software.
The software has a graphical user interface purpose built for use within the construction and architectural marketplace. The software is geared to performing specific reading and writing construction tasks rapidly. The software mimics the look and feel of GPS systems that are utilized in automobiles or other vehicles for navigation. The user navigates within a CAD drawing that represents the building under construction. As discussed previously, the software is used in conjunction with a Master station to create as built studies of existing architecture in the form of 2D or 3D CAD drawings in real time (reading). The software is used to navigate to and layout construction work from 2D or 3D CAD drawings in real time.
Features of the software include:
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- a. “YOU ARE HERE” is displayed on the screen.
- b. In Prism Tracking Mode or Visible Laser Pointing Mode in the XYZ coordinates are displayed on the screen.
- c. In “Active Laser Pointing Mode” or “3D Mouse in Space Mode”: the laser follows or tracks to wherever the mouse moves in space.
- d. Once a target or point in space is selected “Distance to Target” from present location is displayed on screen.
- e. Transfer seamlessly between reflectorless mode and Prism Tracking mode.
- f. Shoot a visible laser in prism tracking mode.
- g. Position control and zoom control is “ghosted” (displayed over the drawing and somewhat transparent or diaphanous).
- h. Access to alternate drawings or drawings layers is available.
- i. Power Search or Call Master Station function is present (the Master station will follow a procedure to actively search for the prism location).
Normally, a prism pole is handheld, and is therefore subject to movement when the holding person's hand shakes. Gyroscopic stabilization of a prism or station has been discussed supra. An alternative stabilization technique is shown in
The Spinning Master Station 801 is a reader and measurement device comprising two Distance Measuring Lasers and two Prism Sighting lasers all mounted within the upper section of the device enclosure. A top view of Master Station 800 is also shown in
The Spinning Substation 810 has a 360 degree corner cube prism 812 mounted in the upper section of the device enclosure. Mounted within the bottom section of the device is an arrangement of four pulse modulated laser transmitters and four laser data receiver sensors one of which is shown as laser 814. Substation 810 can be adapted for self leveling.
Each of the stations may have the following components/functionalities:
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- a. self-leveling visible lasers;
- b. able to send data via a laser beam;
- c. able to receive data via a laser beam;
- d. able to measure distance to multiple prisms;
- e. able to differentiate between prisms based on return signal; and,
- f. able to transmit information wirelessly.
Referring to
The system shown in
-
- Each individual prism is constructed out of a different colored dichroic glass.
- The black and white CCD camera chip presently in place in Master station modules is replaced with a system that utilizes a spread beam infrared laser as a method of rapidly searching for a prism within the Master station modules field of view with a color CCD chip 904. Replacement of the black and white camera chip with a color CCD chip will enable the Master station module to differentiate between colors, thus making each prism individually identifiable or addressable. Presently an infrared laser is utilized in a fanning pass to search for a Prism within the Master Station module's field of view; this method can only identify one prism at a time.
- An infrared strobe 902 or flash is used to identify the quantity and position of multiple prisms simultaneously within the Master station's field of view.
Referring to
Fixed reference points or monuments may be passive or intelligent. Passive fixed reference points or monuments may comprise a Prism or Reflector, a printed bar code or graphic, cross-hair targets or even nails. An example of a Passive Monument is shown in
While the present invention has been described in detail and with reference to specific embodiments thereof, it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope thereof. Thus, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Claims
1. A system for automatically generating an N-dimensional graphical representation of a multidimensional space comprising boundaries in real time, wherein N is an integer equal to or greater than 2, said system comprising a robotic master station and at least one substation, wherein both the robotic master station and said at least one robotic substation occupy positions in the multidimensional space, and wherein:
- a) the robotic master station further comprises: i) an electronic processor component comprising hardware, and firmware or software, and configured to measure or scan distances relative to the robotic master station in all N-dimensions using triangulation in order to determine the location of the robotic master station and the at least one robotic substation as well as objects and structures within the multidimensional space and the boundaries of the multidimensional space, wherein said objects, structures and boundaries have no physical or electronic connection to the robotic master station; ii) an electronic component configured to measure or scan distances relative to the robotic master station in all N-dimensions using triangulation in order to determine the location of references, specified points, objects, or structures within the multidimensional space, wherein said references, specified points objects or structures have no physical or electronic connection to the robotic master station; iii) a master station transmitter and receiver equipment configured to communicate with the at least one robotic substation and to precisely measure distances and to identify locations of various points within the multidimensional space relative to the robotic master station, wherein the transmitter and receiver are able to transmit and receive wireless radio signals or optical signals or both; iv) a master station sensor configured to detect wireless radio signals or optical signals or both that are: transmitted by the at least one robotic substation; reflected by the at least one robotic substation; or reflected from a structure within the multidimensional space or a fixed reference point within the structure; v) a first software or firmware enabled controller component configured to control movements of the robotic master station; vi) a second software or firmware enabled controller component configured to identify and control the at least one substation by communicating with the at least one robotic substation, instructing the at least one robotic substation to perform desired tasks, movements, and precise measurements, and to communicate with the robotic master station;
- b) the at least one robotic substation further comprises: i) a substation transmitter and receiver configured to communicate with the robotic master station and other substations; ii) a substation sensor configured to detect optical signals that are: transmitted from the robotic master station; transmitted from other substations; or reflected from a structure within the multidimensional space or a fixed reference point within the structure; iii) a substation controller configured to control movement of the robotic substation and components therein.
2. The system of claim 1 further comprising a plurality of robotic substations.
3. The system of claim 1 further comprising at least one passive device that reflects signals from the robotic master station or the at least one robotic substation.
4. The system of claim 3, further comprising a plurality of passive devices.
5. The system of claim 3 wherein the at least one passive device and the at least one robotic substation are integrated to form a unitary device comprising two components wherein the at least one robotic substation component transmits reference point information to the robotic master station or another robotic substation, and the at least one passive device component reflects signals from another device taken from the group consisting of the robotic master station, another robotic substation, another passive device, and a structure or object within the multidimensional space.
6. The system of claim 3 wherein the at least one passive device is transportable.
7. The system of claim 3 wherein the passive device further comprises a prismatic target.
8. The system of claim 7 where the passive device transmits its identification in a signal that is received by the robotic master station.
9. The system of claim 3 wherein the passive device further comprises a self-leveling laser device that assists the passive device to level itself.
10. The system of claim 1 wherein the robotic master station further comprises tools for performing tasks.
11. The system of claim 1 wherein the at least one robotic substation further comprises tools for performing tasks.
12. The system of claim 1 wherein the robotic master station is transportable.
13. The system of claim 12 wherein the robotic master station is capable of movement that is controlled as desired by reception of electronic signals or execution of pre-programmed instructions.
14. The system of claim 1 wherein the at least one robotic substation is transportable.
15. The system of claim 14 wherein the at least one robotic substation is capable of movement that is controlled as desired by reception of electronic signals or execution of pre-programmed instructions.
16. The system of claim 1 wherein points and locations within the multidimensional space measured and identified by the robotic master station are transferred onto the N-dimensional space graphical representation that is configured for display so as to allow a user operating the robotic master station to determine his or her position within the multidimensional space or to navigate or to be guided within the multidimensional space by viewing the graphical representation.
17. The system of claim 16 wherein the graphical representation is generated using computer aided design software.
18. The system of claim 1 comprising a plurality of robotic master stations.
19. The system of claim 18 wherein any robotic master station of the plurality of robotic master stations can function as a robotic substation.
20. The system of claim 19 wherein the robotic master station functioning as a robotic substation further comprises a prismatic target capable of reflecting a laser beam back to its origin.
21. The system of claim 1 wherein the robotic master station emits a beam of laser light that impinges on a target and reflects back from the target to form a reflection, and said robotic master station receives and processes the reflection to measure the distance from the robotic master station to the target.
22. The system of claim 21 wherein the beam of laser light is emitted from horizontal and vertical spinning lasers.
23. The system of claim 22 wherein the robotic master station further comprises a prismatic target.
24. The system of claim 21 wherein the laser directs laser beams in the downward direction thereby enabling the robotic master station to determine its own elevation for the purpose of triangulation.
25. The system of claim 1 wherein the robotic substation comprises a robot arm that further comprises a prismatic target and a laser.
26. The system of claim 25 further comprising a toolbox containing tools that would fit on the robot arm.
27. The system of claim 1 further comprising an accelerometer cluster that additionally comprises a plurality of accelerometers coupled to a housing containing supporting circuitry and mechanics for the cluster.
28. The system of claim 27 further comprising a computer that additionally comprises a display.
29. The system of claim 28 further comprising a prismatic device.
30. The system of claim 1 further comprising gyroscopic stabilizers.
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Type: Grant
Filed: Oct 19, 2007
Date of Patent: Aug 29, 2017
Patent Publication Number: 20080154538
Inventor: Sam Stathis (New York, NY)
Primary Examiner: Kee M Tung
Assistant Examiner: Jwalant Amin
Application Number: 11/875,678
International Classification: G06T 1/00 (20060101); G06T 7/33 (20170101);